Title :
Vibration control for cartesian 3 axes robot
Author :
Yamamoto, Tsuyoshi ; Tanaka, Katsuhisa ; Sumiyoshi, Masayuki
Author_Institution :
Dept. of Dev. & Planning, Toyota Motor Corp., Aichi, Japan
Abstract :
This paper presents a vibration control method for a cartesian 3 axes robot which can be used practically with a conventional PID controller. We focused attention on preshaping control based on not only the difference between acceleration and deceleration times but also difference between the positive and negative jerk (differentiation of acceleration). We confirmed that even a low-cost control unit can reduce the vibration settling time by 0.2 to 0.5 second, half the time of conventional PID control
Keywords :
robots; three-term control; vibration control; 0.2 to 0.5 s; cartesian 3 axes robot; conventional PID controller; low-cost control unit; preshaping control; vibration control; vibration settling time; Acceleration; Automatic control; Costs; Manufacturing automation; Robot control; Robotic assembly; Robotics and automation; Three-term control; Vibration control; Vibration measurement;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509324
